A driver assistance system for a vehicle includes a forward facing camera and a control comprising an image processor that processes image data captured by the forward facing camera. The control receives vehicle data relating to the vehicle, including vehicle speed and vehicle steering angle, via a vehicle bus of the vehicle. Via processing by the image processor of image data captured by the forward facing camera, the control is operable to detect a road marking on the road being traveled by the vehicle and to the left of the vehicle. Responsive at least in part to processing of captured image data by the image processor, the control determines a driving condition of the vehicle, such as the type of lane markers present ahead of the vehicle, a traffic condition at or ahead of the vehicle, and/or a hazardous condition at or ahead of the vehicle.